DYNAMIC MODELING AND COMPUTED TORQUE CONTROL OF A 5-DOF MANIPULATOR ROBOT CONSIDERING FRICTION
This paper presents the methodology used to model, simulate, and control a five-degree-of-freedom robot manipulator using the Computed Torque Control (CTC) technique. It formulates the basic control equations for model-based control strategies. The robot dynamics are analyzed and obtained by modelin...
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| Glavni autori: | , , , |
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| Format: | Artigo |
| Jezik: | Inglês |
| Izdano: |
Egyptian Society of Tribology
2025-01-01
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| Serija: | Journal of the Egyptian Society of Tribology |
| Teme: | |
| Online pristup: | https://jest.journals.ekb.eg/article_404535_f8294a56cd08b9e48632bafacfc20586.pdf |
| Oznake: |
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